A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios* |
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| Authors: | Mario Garzón João Valente Juan Jesús Roldán Leandro Cancar Antonio Barrientos Jaime Del Cerro |
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| Affiliation: | 1. Centro De Automática y Robótica, UPM‐CSIC, 28006 Madrid, Spainhttp://www.robcib.etsii.upm.es;2. Centro De Automática y Robótica, UPM‐CSIC, 28006 Madrid, SpainCurrent address: Universidad Carlos III de Madrid, Departamento de Ingeniería de Sistemas y Automática, Av. Universidad, 30, 28911 Leganés (Madrid), Spain;3. Centro De Automática y Robótica, UPM‐CSIC, 28006 Madrid, SpainSENER Ingeniería y Sistemas S.A ‐ Calle Severo Ochoa 4 ‐ Parque Tecnológico de Madrid ‐ 28760 Tres Cantos (Madrid), Spain.;4. Centro De Automática y Robótica, UPM‐CSIC, 28006 Madrid, Spain |
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| Abstract: | This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path‐planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed. |
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